Class StereoCameraModelPtr


  • public class StereoCameraModelPtr
    extends java.lang.Object
    Ptr stores a pointer and optionally takes ownership of the value.
    • Constructor Detail

      • StereoCameraModelPtr

        public StereoCameraModelPtr​(long cPtr,
                                    boolean cMemoryOwn)
      • StereoCameraModelPtr

        public StereoCameraModelPtr()
        Default constructor yielding a NULL-pointer.
      • StereoCameraModelPtr

        public StereoCameraModelPtr​(StereoCameraModel ptr)
        Do not take ownership of ptr.

        ptr can be null.

        The constructor is implicit on purpose.
    • Method Detail

      • delete

        public void delete()
      • isShared

        public boolean isShared()
        check if this Ptr has shared ownership or none
        ownership
        Returns:
        true if Ptr has shared ownership, false if it has no ownership.
      • isNull

        public boolean isNull()
        checks if the pointer is null
        Returns:
        Returns true if the pointer is null
      • getLeftImage

        public ImagePtr getLeftImage​(State state)
        get left image
      • setLeftImage

        public void setLeftImage​(ImagePtr img,
                                 State state)
        set left image
      • getRightImage

        public ImagePtr getRightImage​(State state)
        get right image
      • setRightImage

        public void setRightImage​(ImagePtr img,
                                  State state)
        set right image
      • SaveCalibration

        public boolean SaveCalibration​(java.lang.String filename,
                                       double fov,
                                       double wx,
                                       double wy,
                                       Transform3D TL,
                                       Transform3D TR,
                                       StereoCameraModel.FOVDirection direction,
                                       StereoCameraModel.CalibrationFormat format)
        utility function for saving a stereo calibration to a file

        Parameters:
        filename - [in] file to save to
        fov - [in] field of view (FOV) [rad]
        wx - [in] horizontal pixels
        wy - [in] vertical pixels
        TL - [in] transformation of left camera frame
        TR - [in] transformation of right camera frame
        direction - [in] the direction of the specified FOV
        format - [in] calibration file format to use
        Returns:
        true if the file was successfully saved, false otherwise
      • SaveCalibration

        public boolean SaveCalibration​(java.lang.String filename,
                                       double fov,
                                       double wx,
                                       double wy,
                                       Transform3D TL,
                                       Transform3D TR,
                                       StereoCameraModel.FOVDirection direction)
        utility function for saving a stereo calibration to a file

        Parameters:
        filename - [in] file to save to
        fov - [in] field of view (FOV) [rad]
        wx - [in] horizontal pixels
        wy - [in] vertical pixels
        TL - [in] transformation of left camera frame
        TR - [in] transformation of right camera frame
        direction - [in] the direction of the specified FOV

        Returns:
        true if the file was successfully saved, false otherwise
      • SaveCalibration

        public boolean SaveCalibration​(java.lang.String filename,
                                       double fov,
                                       double wx,
                                       double wy,
                                       Transform3D TL,
                                       Transform3D TR)
        utility function for saving a stereo calibration to a file

        Parameters:
        filename - [in] file to save to
        fov - [in] field of view (FOV) [rad]
        wx - [in] horizontal pixels
        wy - [in] vertical pixels
        TL - [in] transformation of left camera frame
        TR - [in] transformation of right camera frame


        Returns:
        true if the file was successfully saved, false otherwise
      • WriteCalibration

        public void WriteCalibration​(SWIGTYPE_p_std__ostream os,
                                     double fov,
                                     double wx,
                                     double wy,
                                     Transform3D T,
                                     vector_d dist,
                                     StereoCameraModel.FOVDirection direction,
                                     StereoCameraModel.CalibrationFormat format)
        utility function for writing a camera calibration to a stream

        Parameters:
        os - the stream to write to
        fov - field of view (FOV) [rad]
        wx - horizontal pixels
        wy - vertical pixels
        T - [in] transformation of the camera frame
        dist - [in] distortion parameters
        direction - [in] the direction of the specified FOV
        format - [in] calibration file format to use
      • WriteCalibration

        public void WriteCalibration​(SWIGTYPE_p_std__ostream os,
                                     double fov,
                                     double wx,
                                     double wy,
                                     Transform3D T,
                                     vector_d dist,
                                     StereoCameraModel.FOVDirection direction)
        utility function for writing a camera calibration to a stream

        Parameters:
        os - the stream to write to
        fov - field of view (FOV) [rad]
        wx - horizontal pixels
        wy - vertical pixels
        T - [in] transformation of the camera frame
        dist - [in] distortion parameters
        direction - [in] the direction of the specified FOV
      • WriteCalibration

        public void WriteCalibration​(SWIGTYPE_p_std__ostream os,
                                     double fov,
                                     double wx,
                                     double wy,
                                     Transform3D T,
                                     vector_d dist)
        utility function for writing a camera calibration to a stream

        Parameters:
        os - the stream to write to
        fov - field of view (FOV) [rad]
        wx - horizontal pixels
        wy - vertical pixels
        T - [in] transformation of the camera frame
        dist - [in] distortion parameters

      • WriteCalibration

        public void WriteCalibration​(SWIGTYPE_p_std__ostream os,
                                     double fov,
                                     double wx,
                                     double wy,
                                     Transform3D T)
        utility function for writing a camera calibration to a stream

        Parameters:
        os - the stream to write to
        fov - field of view (FOV) [rad]
        wx - horizontal pixels
        wy - vertical pixels
        T - [in] transformation of the camera frame


      • setName

        public void setName​(java.lang.String name)
        sets the name of this sensor
        Parameters:
        name - [in] name of this sensor
      • setDescription

        public void setDescription​(java.lang.String description)
        sets the description of this sensor
        Parameters:
        description - [in] description of this sensor
      • getName

        public java.lang.String getName()
        returns the name of this sensor
        Returns:
        name of sensor
      • getDescription

        public java.lang.String getDescription()
        returns a description of this sensor
        Returns:
        reference to this sensors description
      • getFrame

        public Frame getFrame()
        The frame to which the sensor is attached.

        The frame can be NULL.
      • attachTo

        public void attachTo​(FramePtr frame)
        Sets the frame to which the sensor should be attached

        Parameters:
        frame - The frame, which can be NULL
      • getPropertyMap

        public PropertyMap getPropertyMap()
        gets the propertymap of this sensor
      • registerIn

        public void registerIn​(State state)
        initialize this stateless data to a specific state
        Parameters:
        state - [in] the state in which to register the data.

        Note: the data will be registered in the state structure of the state
        and any copies or other instances of the state will therefore also
        contain the added states.
      • registerIn

        public void registerIn​(StateStructurePtr state)
        register this stateless object in a statestructure.
      • unregister

        public void unregister()
        unregisters all state data of this stateless object
      • getStateStructure

        public StateStructurePtr getStateStructure()
        Get the state structure.
        Returns:
        the state structure.
      • isRegistered

        public boolean isRegistered()
        Check if object has registered its state.
        Returns:
        true if registered, false otherwise.